Milking implement

ABSTRACT

An autonomous mobile milking implement having a frame with, a sub-frame which is adjustable in height and which has at least one teat cup holder and a teat cup movable relative thereto. The teat cup holder is tiltable, via a tilting mechanism coupled to the teat cup holder and the frame between a substantially vertical position and a second partially inverted position. The milking implement protects the teat cups against contamination and is capable of storing them in a compact manner.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.11/958,400 filed on Dec. 18, 2007, which claims priority from Dutchapplication number 1033090 filed on Dec. 20, 2006. The contents of theseapplications is hereby incorporated by reference in their entirety.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates generally to milking implements and moreparticularly to milking implement of the type comprising a frame with,disposed thereon, at least one teat cup holder for carrying a teat cup.The invention further relates to milking systems and in particularmilking systems comprising autonomous mobile milking implements.

2. Description of the Related Art

Document US2005/0076841, the contents of which are hereby incorporatedby reference in their entirety, discloses a teat cup carrier carrying atits upper side teat cups and further milking elements. The teat cupcarrier is capable of attaching the teat cups in an operative positionwith the aid of an upwardly movable teat cup lifting device.

A disadvantage of the known milking implement is that the teat cups,after use, cannot be stored in a reliable and space efficient manner inwhich they are protected against contamination. Moreover, the teat cupscannot be cleaned in a reliable manner. There is thus a particular needfor an improved milking implement.

BRIEF SUMMARY OF THE INVENTION

According to the present invention there is provided an autonomousmobile milking implement comprising a frame, a sub-frame disposed on theframe and being adjustable in height thereto and at least one teat cupholder having a teat cup movable relative thereto, wherein the teat cupholder is arranged to tilt between a first position in which the teatcup placed on the teat cup holder is substantially vertical and has anupward orientated aperture, and a second position, which is at an angleH to the first position, H amounting to at least 135°. Such a milkingimplement provides the possibility of tilting the teat cup, via the teatcup holder, to a position in which contamination either from above orfrom the lateral sides cannot, or at least to a lesser extent, penetrateinto the teat cup. Moreover, when the teat cup is being cleaned by meansof spraying with a cleaning liquid, liquid will be less able topenetrate into the teat cup and liquid sprayed onto the teat cup willreadily flow or drip from it.

The sub-frame may preferably be a plateau or the like, but may inprinciple also be a gripping device, as disclosed in the aforementioneddocument US2005/0076841.

In a preferred embodiment, H amounts to between 160° and 180°. In thiscase, the teat cup is completely or almost completely upside down, inwhich position an optimum discharge of cleaning liquid is ensured.Furthermore, there is thus required a minimum space, at least measuredin floor surface.

In one embodiment, the tilting mechanism comprises one or more jointsdisposed between the teat cup holder and the sub-frame. This is asimple, but efficient and reliable manner of enabling said tilting. Thetilting may be performed, for example, in one single turn over the angleH. There may, of course, also be provided a joint between the sub-frameand the frame, although this will lead in many cases to a largerimplement; there will at least be required more space to allow the teatcup to tilt.

In a special embodiment, the tilting mechanism comprises a first jointbetween the teat cup holder and the sub-frame and a second joint betweenthe sub-frame and the frame, wherein the first joint is tiltable over anangle H1, and the second joint is tiltable over an angle H2, in whichcase H1+H2=H. Due to the two-stage tilting the whole of sub-frame andteat cup holder with teat cup will be somewhat more compact, so that themilking implement has to occupy less space and may be positioned moreeasily to under, for example, a next cow.

Furthermore, there is provided the possibility of performing the tiltingin two phases: a first phase in which the teat cup is lowered to someextent, by means of a favorable positioning of the tilting point,followed by a second tilting in which the desired angle to the verticalis achieved by tilting around a second tilting point. This will be setout in further detail hereinafter.

H1 is preferably approximately 90°. In this case, the teat cup may inprinciple be disposed in a flat condition against the sub-frame, inorder thus to occupy as little space as possible. This is, for example,a favorable low position for movement to a position under a dairyanimal. Tilting about the second joint, over 45° to 90°, preferably 70°to 90°, will complete the tilting, for example for storage or cleaning.

In a particular embodiment, the first and second joints are designed totilt in the same plane. In case of tilting in the same plane, it ispossible for the teat cup to be stored in a compact manner on the teatcup holder in the milking implement. If the joints were designed to tiltin different planes, the teat cup would generally project to someextent, although this is not excluded according to the invention.

In a special embodiment, a line through the first joint and the secondjoint makes an angle b with the frame. In this case, it is assumed thatthe frame is horizontal, or at least parallel to the ground. Here, theangle b is not equal to 0, and preferably between 15° and 45°, forexample approximately 30°. If the first and second joints are arrangedin a line which makes an angle b with the frame, it may be ensured in asimple manner that, at a first tilting, the teat cup will be lowered inheight and, when tilting about the second tilting point, willsubsequently be able to tilt, for example, to the horizontal, or to tiltfurther, for example, to the vertical. In this case, it is assumed thatthe tilting point near the teat cup is the highest positioned tiltingpoint.

In a particular embodiment, the first joint is designed to tilt over anangle c, c being at least as great as b. At such tilt angles it isefficiently ensured that the teat cup, when tilting about the firstjoint positioned near the teat cup, will be lowered relative to theframe, and it is in particular ensured that the teat cup will be loweredat any rate when tilting about the other, second tilting point.

In a particular embodiment, the second joint is designed to tilt over anangle d, the angle c and the angle d forming together at least a rightangle. In this case, it is advantageous that tilting takes place in twophases via the intermediate arm, because, by not tilting over an angleof 90°, it is possible for the intermediate arm to keep the lower sideof the teat cup somewhat above the sub-frame, so that it is possible forthe upper side of the teat cup to tilt already then more than 90°.

In a preferred embodiment, the milking implement comprises a pluralityof teat cup holders, each with a teat cup. By means of a plurality ofteat cups, it is possible to milk a plurality of teats simultaneously,which is, of course, time-saving. If, for example, a cow has to bemilked, there are preferably provided four teat cups. If desired, thenumber of teat cups may be adapted to the number of teats of the animalto be milked.

In a special embodiment having at least two teat cup holders, at leastone joint comprises a pivot that allows tilting in one tilting plane, atleast two of the tilting planes being at an angle that is not equal tozero with respect to each other. In this case, there are preferablyprovided four teat cup holders that are arranged in a trapezium shape,the tilting planes intersecting at the short side of the trapezium. Inthis manner, there is provided a milking implement that is capable ofstoring the usual four teat cups in a very compact manner and that,moreover, is capable of being positioned in a simpler manner between andin the vicinity of the hind legs of the cow or other dairy animal, byfirst performing, for example, a tilting over substantially 90°. Therear teats of the cow or the like will often be located very close tothe hind legs, which limits the positioning space. The mentionedembodiment may in this case be placed in a simpler manner withoutirritation for the cow.

In particular, the milking implement further comprises at least onetilting actuator designed to tilt at least one of the teat cup holderand the sub-frame. The tilting actuator may in this case be chosen fromall known suitable types of actuators, such as pneumatic or hydraulicactuators, electric motors, etc. Such actuators may also be simple twoposition actuators, being thus considerably less complex thanpositionable actuators used for robotic positioning systems. In aparticularly preferred embodiment, the milking implement may comprise areplacing tether connecting the teat cup to the milking implement andbeing operable to return the teat cup to the teat cup holder. Operationof the tether may be arranged to at least partially cause the desiredtilting of the teat cup holder.

The milking implement may further comprise a stop on the frame, whereinthe second joint co-operates with the stop, wherein the sub-frame istiltable about the stop, if the sub-frame is moved downward. In thiscase, gravitational force may be used, for example, as the tiltingforce. This ensures, for example, that more types of actuators aresuitable, because they only have to realize a tilting of, for example,90°, the remaining tilt angle being effected by the tilting relative tothe stop.

The above-mentioned embodiment may, for example, be designed as follows.The implement may comprise a first joint between the teat cup and thesub-frame, as well as an actuator for tilting the teat cup about saidfirst joint, over, for example, 90°. Furthermore, the milking implementmay comprise a second actuator which is capable of displacing thesub-frame in vertical direction relative to the frame. Said secondactuator comprises, for example, a parallelogram rod system or the like.The milking implement further comprises a second joint between thesub-frame and the frame, as well as a stop which, for example, abutsagainst the sub-frame during tilting of the teat cup about the firstjoint. If the second actuator subsequently moves the sub-frame downward,the sub-frame will tilt about the second joint. In this case, theposition of the stop as well as the path of the sub-frame may be suchthat the further tilting over 45° to 90° will take place undercontinuous contact with the stop. It is also possible that the centre ofgravity of the teat cup, and/or of the whole of the sub-frame and thecomponents tilting together with the sub-frame, is situated in such away that, after tilting about the stop has started, the further tiltingwill take place under the influence of gravitational force. Herein, thesub-frame may be led, for example, via an arched slotted hole, forexample in a quarter circle shape. The slotted hole may be disposed inthe sub-frame, in which case the frame comprises a guide pin thatco-operates with the slotted hole, or the positions of the slotted holeand the guide pin have been exchanged. Incidentally, other tiltingmechanisms and modes are also possible, as well as other angles than 90°and 45-90°, respectively.

A favorable milking implement according to the invention furthercomprises a cleaning device with a sprayer that is capable of spraying afluid onto the teat cup. This makes it possible for the milkingimplement to be self-supporting as regards cleaning, and, as a resultthereof, to make an optimum use of the advantages of the teat cuparrangement enabled by the invention. The milking implement may furthercomprise a cleaning fluid reservoir and, if desired, a collectingreservoir for used cleaning fluid, also in view of the relativelycontrolled dripping of liquid from the teat cup. Of course, the cleaningmay also take place externally, that is to say by means of a separatedevice.

In a particular embodiment, the sprayer is designed to spray an innerside of the teat cup. It is thus possible, for example, to clean and/ordisinfect a teat cup by spraying with a suitable fluid, such as steam ora liquid containing a disinfecting means. Due to the fact that tiltingtoward the angles, according to the invention, also enables internalcleaning without cleaning fluid penetrating into a milk line, there isprovided an extraordinarily flexible milking implement that is capableof milking in a very hygienic manner.

A particular embodiment is characterized in that the teat cup surroundsthe sprayer at least partially in the second position. In other words,it is then possible for the sprayer to be placed at least partially inthe teat cup. This makes it possible, for example, to cause the sprayerto spray not only upward, that is to say into the teat cup, but alsosideward, which is much more efficient in many cases. Moreover, theefficiency has been increased because the risk of cleaning fluid landingoutside the teat cup has been reduced.

In a favorable embodiment, the frame comprises a robot arm. With the aidof this robot arm it is possible for the sub-frame with the at least oneteat cup to be moved in an efficient manner to a position under thedairy animal to be milked.

According to an important aspect of the invention, special attentionshould be paid to the compactness of the entire implement, because suchan autonomous vehicle does not only have to drive as a whole between andunder cows or other dairy animals, but also because such implements areoften provided with additional, mostly rather voluminous sub-implements,such as, for example, a milk storage, preferably cleaning means,navigation means, etc. Nevertheless, it is also possible to design themilking implement as a stationary implement. In all cases, the milkingimplement may be provided with a movable frame, for example a robot armas described above.

Moreover, the milking implement may be provided with one or more of theparticular features mentioned hereinafter.

The frame may be provided with propelling and steering elements, inparticular caterpillar tracks or wheels, preferably moreover with atleast one additional propelling or rolling or sliding element. It may besufficient for the frame in this manner to have two wheels for asufficiently smooth displacement.

Preferably, the frame moreover comprises a component that facilitatesdisplacement at a third supporting point, such as an additional wheel ora sliding element. One, or preferably two additional wheels, so that intotal four wheels are provided, give an optimum driving comfort. On theother hand, an additional ball wheel, for example, provides greatermaneuverability. A sliding element has, on the other hand, the advantageof allowing an extraordinarily robust design without being undulyhindered by contamination.

In a particular embodiment, the milking implement further comprises amotor for driving at least one of the propelling elements. By means ofsuch a motor the milking implement is self-propelled, and therefore neednot be displaced by an operator. All this has, of course, advantages inrelation to the amount of work to be done by an operator, which amountmay thus become very small. A motor control is advantageously providedfor the driving motor. The latter may be connected, for example, with aGPS-system or the like for orientation of the milking implement in thearea where it is located.

In a preferred embodiment, the milking implement further comprises amilk storage vessel. In this embodiment, the milking implement is inprinciple completely autonomous. After milking a cow or other animal, ora plurality of animals in the case of a sufficiently large milk storagevessel, the milking implement is capable of driving, either autonomouslyor not, to a larger milk storage tank in order to supply therein thecontents of the milk storage vessel. A disadvantage of providing such amilk storage vessel is that, of course, space is needed for storing themilk. An advantage, however, is that no hoses are needed, behind whichan animal or the implement may get caught, etc. However, in anotherembodiment the milking implement may also be connectable or connected toa milk storage tank by means of a milk transport line. It is thenpossible to design such a milking implement as a particularly compactone.

In particular, the milking implement further comprises a teat detectingdevice, a teat cleaning device and/or a teat cup cleaning device. Suchdevices are known in the state of the art and serve to obtain a milkingimplement that is more reliable, more hygienic, etc. However, it is alsopossible for the person skilled in the art to combine the milkingimplement with any other means known in the state of the art in order toobtain the advantages related thereto.

The invention also provides a milking system comprising a milkingimplement and an external tilting device, wherein the milking implementcomprises: a frame with at least one teat cup holder with a teat cupmovable relative to the frame, wherein the teat cup holder is tiltable,via a tilting mechanism coupled to the teat cup holder and the frame,between a position in which the teat cup placed on the teat cup holderis substantially vertical and has an upward orientated aperture, and asecond position, which is at an angle H to the first position, whereinthe external tilting device is designed to tilt the milking implement asa whole over an angle H3 greater then zero, H+H3 amounting at least to135°, and preferably to between 160° and 180°.

In such a milking system, an external mechanism or construction may beused, so that, in the design and the construction of the milkingimplement itself, the tilt angle of the teat cup(s) need not be takeninto account. It may be sufficient, for example, to tilt the teat cupover 90° and to have the external tilting device provide the remainingtilt angle.

The milking implement is preferably chosen according to the invention,the frame comprising more preferably a mobile vehicle, in particular anautonomous mobile vehicle. In this embodiment, it is possible, forexample, to use the propelling capacity of the vehicle in order torealize tilting of the vehicle. However, it is not necessary for themilking implement to comprise a vehicle. For example, the externaltilting device comprises a gripping device that allows tilting.

Advantageously, H3 amounts to at least 45°, preferably to between 70°and 110°. In case of an angle H3 of at least 45°, it is sufficient forthe teat cup to tilt over 90° at the most relative to the rest of themilking implement, although a greater tilt angle is not excluded, ofcourse. It is then not necessary, for example, to tilt beyond a bottomof a sub-frame. An advantage of a greater angle H3, in particulargreater than 90°, is that it is then well possible to stabilise themilking implement in that position, as will be explained below infurther detail.

In one embodiment, the external tilting device comprises a guide paththat allows the milking implement to drive onto it. In this embodiment,tilting takes place at least partially due to the fact that the milkingimplement, in the form of a vehicle, drives onto the guide path. Thetilting path may have a suitable shape, such as a ramp, a part of thearc of a circle, etc.

In a particular embodiment, the external tilting device furthercomprises an auxiliary guide means which extends remotely from the guidepath and is arranged in such a way that the milking implement, whendriving onto the guide path, is forced by the auxiliary guide path tocome at least partially into contact with said guide path. The milkingimplement is thus forced between the guide path and the auxiliary guidemeans, so that the orientation of the milking implement will bedetermined in a more reliable manner. As a result thereof, for example,unintentional falling over is prevented, and more stability will beprovided during storage, cleaning, etc. The auxiliary guide means may bedesigned, for example, as a sort of ‘railing’. The milking implement maybe provided with one or more components that are capable of co-operatingwith the auxiliary guide means.

In one embodiment, the external tilting device comprises a gripper thatis designed to engage the milking implement and to tilt it. As alreadymentioned above, such a gripper may be provided if the milking implementdoes not comprise a vehicle. Also if the milking implement comprises avehicle, a gripper may be provided, of course, in which case the gripperneed not be displaceable, or to a much lesser extent, to be able to gripthe milking implement.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will be explained hereinafter in further detail withreference to the drawing, in which some non-limiting exemplaryembodiments are shown, and in which:

FIG. 1 is a schematic side view of an embodiment of the milkingimplement according to the invention;

FIG. 2 is a schematic side view of a further detail of the invention;

FIGS. 3 a, b and c show in a schematic side view a part of a milkingimplement according to the invention;

FIG. 4 shows schematically part of a very simple embodiment of theinvention;

FIG. 5 shows an embodiment of a milking system according to theinvention; and

FIG. 6 shows a further detail of a milking implement according to theinvention.

DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS

FIG. 1 is a schematic side view of an embodiment of the milkingimplement according to the invention.

Here, 2 denotes the floor on which the milking implement is supported.The latter comprises a frame 10 and a sub-frame 20.

The frame 10 comprises wheels 12 and a sliding shoe 14, as well as anupright portion 16. The sub-frame 20 comprises a bottom portion 22 and acasing 46, and an adjustment in height with a cylinder 18 and aparallelogram construction 24. Furthermore, there are provided in totalfour (of which two visible) teat cup holders 26, each with a teat cup 28and each disposed on a tiltable intermediate arm 30. Milk lines 32extend via a bracket 34 to the milk discharge tube 36.

The embodiment shown is an autonomous mobile implement. Alternatively,there is also aimed at a stationary milking implement, for example amilking implement fixedly arranged in a milking parlor and, if desired,comprising a movable robot arm.

FIG. 1 also shows a connection 42 for a vacuum line and a pulsator 44that is disposed on the casing 46. The casing 46 is also provided with ateat detecting camera 48.

The milking implement shown in FIG. 1 comprises two wheels 12 and asliding shoe 14. There is thus obtained a good compromise betweenmobility by means of wheels that are capable of driving rather easilyover, for example, small obstacles, and a small height by means of asliding shoe. The latter is very advantageous when placing the milkingimplement to under a cow's udder. Alternatively, there may be providedother displacing means, such as caterpillar tracks.

The wheels 12 or the like may optionally be driven by a motor (notshown), preferably even each driven by a motor. The latter option offersthe advantage of no axle being necessary between the wheels 12, and,moreover, of maneuverability being provided in a simple manner by anindependent control of the wheels. A control of the motor or motors, andconsequently of the milking implement, may also be provided on theimplement. Alternatively, it is also possible to equip the milkingimplement without a motor, in which case the implement is, for example,driven manually to under a cow or is otherwise brought to under a cow.

Furthermore, the frame 10 need not comprise much more than a supportingstructure which is preferably composed in such a way that various linesof the milking implement, such as milk lines 32, are prevented fromtouching the floor 2.

The sub-frame 20 is adjustable in height relative to the frame 10 andconsequently to the floor 2. For this purpose, the implement comprises aretractable and extendable cylinder 18 that is connected between theframe 10 and the sub-frame 20, to be precise to one of the two parallelbars of a parallelogram construction 24. By retracting or extending thecylinder 18, the bars 24 of the parallelogram construction will pivot,and the sub-frame 20 will be displaced. The adjustment in height isdesirable in order to be able to attach the teat cups 28 at different(udder) heights. Incidentally, instead of the parallelogram construction24 and the single cylinder 18, other height adjustment mechanisms may beapplied as well, such as a combination of a crown wheel and a gear wheelco-operating therewith, the sub-frame being connected to one (gear)wheel and the frame to the other (gear) wheel, or, for example, one ormore extendable cylinders, etc.

The milk lines 32 extend via a guide bracket 34 to a milk discharge tube36 that is connected (not shown) to a milk storage (neither shown).

There may be provided a milk storage facility in the form of an externalmilk tank, the milking implement and the milk tank then beinginterconnected by means of a hose extending, for example, from the milkdischarge tube 36. Alternatively, a milk storage vessel is provided onboard of the milking implement, for example in the area at or betweenthe wheels 12, or in the pulsator 44.

Moreover, the teat cups are connected, via a not shown vacuum orpulsator line, to the associated connection 42 that is operativelyconnected itself to the pulsator 44. Said pulsator, in this case thedrum, may be chosen by the person skilled in the art from drums known inthe state of the art, and will not be explained in further detail. Thedrum 44 is disposed on the supporting structure 46 that need notcomprise much more than a mounting plate or the like.

There is further shown a teat detecting camera 48 for detecting the teatpositions of an animal to be milked. Such a teat detecting camera isknown per se to the person skilled in the art and will therefore not bedescribed here in further detail. However, it is pointed out that thecamera may additionally be equipped for recognizing legs and otherobstacles, as well as for navigating in areas such as sheds and milkingparlors. The latter option will in particular be useful, of course, ifthe milking implement is provided with a drive for autonomousself-propelled movement.

FIG. 2 is a schematic side view of a further detail of the invention.

Here, 28 is a teat cup on a teat cup holder 26, with connected thereto areplacing tether 60 that is led via a first guide means 78 and a secondguide means 80 that are both fastened to an intermediate arm 30 that iscapable of pivoting about an axle 76. The teat cup holder 26 is fastenedto an end of a small arm 62 that is pivotable about an axle 64 and thatis connected at the other end to a spring 66 that is connected itself tothe bottom portion 22.

In the position shown in FIG. 1, the teat cup 28 is upright, as is usualfor milking. This is ensured by the spring tension of the spring 66. Thereplacing tether 60 is free of tension, and the teat cup is capable ofmoving freely, and may therefore also be detached from the teat cup bythe cow, for example when she moves to some extent.

When the milking has been ended and the teat cup 28 has been detached,the latter will be replaced in the first instance onto the teat cupholder 26. This takes place by winding up the replacing tether 60. Whenthe winding has ensured that the teat cup has been replaced, thereplacing tether 60, when being wound further, will exert a pullingforce on the teat cup holder 26, via the small arm 62. This will lead toa tilting movement of the teat cup holder 26 with the teat cup 28. Thetilting continues until an angle of 90° is reached. For this purpose,the cord pulling force is sufficient to produce the spring resistanceagainst tilting about the axle 76. Due to this, the intermediate armwill tilt further until the teat cup 28 reaches, for example, ahorizontal position. For this purpose, the intermediate arm 30 should inthis case pivot over an angle b. It is also possible to pivot over asomewhat smaller, or even a greater angle.

FIGS. 3 a, b and c show in a schematic side view a part of a milkingimplement according to the invention. Here, as in the remaining part ofthe drawing, corresponding components are denoted by the same referencenumerals.

FIG. 3 a shows an initial position, for example during milking,including a slotted hole 50, into which the guide means 52 has been led.The bottom portion 22 may pivot about the axle 54. A stop is denoted by56, and is in a fixed position relative to the frame (not shown), or isat least movable in such a way that it is in operative co-operation withthe bottom portion in order to tilt the latter.

In this situation, the position of the teat cup 28 is substantiallyvertical and there is no tension on the cord 60.

In FIG. 3 b, the teat cup 28 is positioned horizontally, in whichsituation the arm 30 with the teat cup 28 is tilted by tightening thecord 60. For this purpose, for example, the technique according to FIG.2 may be used.

Subsequently, the bars of the parallelogram construction 24 are loweredin the direction of arrows C. By co-operation of the bottom portion 22and the stop 56, the bottom portion 22 will tilt about the axle 54, inwhich case the guide means 52 will slide via the slotted hole 50. Thesituation of FIG. 3 c is thus reached, in which the teat cup is hangingin a substantially vertical position.

FIG. 4 shows very schematically a very simple embodiment. In thisfigure, 16 is a very general frame, which may also comprise, forexample, a stationary milking installation. 82 denotes an arm which iscapable of pivoting about its axle, that is to say in the direction ofarrow D. By simply pivoting the arm 82, it is possible to position theteat cup 28 under any desired angle, according to the invention,advantageously in a substantially vertical position, as shown by dashedlines.

FIG. 5 shows an embodiment of a milking system according to theinvention. It shows a milking implement according to FIG. 1, now withfront and rear wheels 12. The teat cup 28 has tilted over 90° and almostabuts against the bottom portion 22. A guide path 84 makes a maximumangle E with the horizontal and an auxiliary guide means 86 is alsoshown. Locking means 88 is movable in the direction of arrow F.

During operation, the milking implement will drive toward the guide pathand make an increasing angle with the horizontal, until it reaches theangle E, which is in the figure approximately 100°. The auxiliary guidemeans 86 serves to prevent the milking implement from turning over andco-operates for this purpose with the milking implement, for examplewith an upper surface of the frame 16. In order further to prevent themilking implement from sliding downward, there may be provided a lockingmeans 88 which moves through the guide path 84 to under the milkingimplement in order to engage the latter.

The minimum angle E depends on the tilt angle that can be reached in themilking implement. If that tilt angle is already obviously greater than90°, then the angle E should be proportionally smaller than 90° in orderstill to achieve a vertical position of the teat cup 28. Moreover, avertical position is not necessary according to the invention.

FIG. 6 shows a further detail of a milking implement according to theinvention. Here, 90 denotes a first sprayer and 92 denotes a secondsprayer, in each case with apertures 94 through which a spray mist 96 isemitted.

It is visible that the first sprayer 90 is partially located in the teatcup 28. Its spray mists are capable of cleaning and/or disinfecting theinner side of the teat cup 28, and the fluid used will drip from theteat cup without penetrating into a milk line (not shown). Likewise, thesecond sprayer 92 will be able to clean the outer side of the teat cup28, and fluid will neither penetrate into the milk line. The anglethrough which the teat cup is positioned may also be smaller than 180°,for example 135° or 160°, to provide the advantages of the invention.

The invention as thus disclosed is not limited to the shown embodiments.The person skilled in the art will be able to apply variousmodifications and adaptations within the scope of the invention, thescope of protection for the invention being determined by theaccompanying claims.

1-20. (canceled)
 21. A mobile milking implement comprising a frame, asub-frame, and one or more teat cup holders, each teat cup holderadapted to carry a teat cup, wherein: the teat cup holder is connectedto the sub-frame by an assembly comprising a first arm and a first jointadapted to permit the teat cup holder to tilt with respect to thesub-frame about the first joint; the sub-frame is connected to the frameby an assembly comprising a second arm and a second joint adapted topermit the sub-frame to tilt with respect to the frame about the secondjoint; and the frame is adapted for carrying the milking implement. 22.The milking implement of claim 21, wherein the first joint is adapted totilt the teat cup holder over an angle H1 with respect to the sub-frame,and the second joint is adapted to tilt the sub-frame over an angle H2with respect to the frame, wherein the tilt angles H1 and H2 are in thesame direction so that the teat cup holder is tiltable over an angleH1+H2 with respect to the frame.
 23. The milking implement of claim 21,wherein the teat cup holder is arranged to tilt between a first positionin which the teat cup placed on the teat cup holder is substantiallyvertical and has an upward orientated aperture, and a second position,which is at an angle H to the first position, H amounting to at least135°.
 24. The milking implement of claim 21, further comprising at leastone tilting actuator adapted to tilt at least one of the teat cup holderand the sub-frame.
 25. The milking implement of claim 21, furthercomprising a stop on the frame, wherein the second joint co-operateswith the stop and wherein the sub-frame is tiltable about the stop whenthe sub-frame is moved downward.
 26. The milking implement of claim 21,further comprising a replacing tether connecting the teat cup to themilking implement and being operable to return the teat cup to the teatcup holder, wherein operation of the tether causes tilting of the teatcup holder.
 27. The milking implement of claim 21, further comprising acleaning device with a sprayer arranged for spraying a liquid onto theteat cup.
 28. The milking implement of claim 21, further comprising arobot arm for manipulation of the teat cup.
 29. The milking implement ofclaim 21, further comprising at least one propelling element and a motorfor driving the at least one propelling element, the propelling elementadapted for autonomous movement of the frame.
 30. A mobile milkingimplement comprising a frame, a sub-frame, and one or more teat cupholders, each teat cup holder adapted to carry a teat cup, wherein: theteat cup holder is connected to a first arm having a first joint betweenthe teat cup holder and the sub-frame; the sub-frame is connected to atleast one second arm having a second joint between the sub-frame and theframe; wherein the teat cup holder is tiltable with respect to the frameover an angle H in two phases, a first phase in which the teat cup tiltsabout the first joint over an angle H1 and a second phase in which theteat cup tilts about the second joint over an angle H2.
 31. The milkingimplement of claim 30, wherein the teat cup holder is tiltable over anangle H between a position in which a teat cup placed on the teat cupholder has a generally upward orientation and a second position in whichthe teat cup has a generally inverted orientation.
 32. The milkingimplement of claim 30, further comprising a stop on the frame, whereinthe second joint co-operates with the stop and wherein the sub-frame istiltable about the stop when the sub-frame is moved downward.
 33. Themilking implement of claim 30, further comprising a replacing tetherconnecting the teat cup to the milking implement and being operable toreturn the teat cup to the teat cup holder, wherein operation of thetether causes tilting of the teat cup holder.
 34. The milking implementof claim 30, further comprising at least one propelling element and amotor for driving the at least one propelling element, the propellingelement adapted for autonomous movement of the frame.